Projection-Based Force-Reflection Algorithms With Frequency Separation for Bilateral Teleoperation
Projection-based force-reflection (PBFR) algorithms have been previously demonstrated to substantially improve stability characteristics of bilateral teleoperators with communication delays; however, the transient response of the PBFR algorithms suffers from relatively slow force convergence. As a r...
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Veröffentlicht in: | IEEE/ASME transactions on mechatronics 2015-02, Vol.20 (1), p.143-154 |
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Sprache: | eng |
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Zusammenfassung: | Projection-based force-reflection (PBFR) algorithms have been previously demonstrated to substantially improve stability characteristics of bilateral teleoperators with communication delays; however, the transient response of the PBFR algorithms suffers from relatively slow force convergence. As a result, the high-frequency component of the reflected force is lost during the initial phase of contact with the environment, which has a strong negative effect on the haptic perception of the environmental stiffness and texture. In this paper, a new type of PBFR algorithms are developed which solve the aforementioned problem. The new algorithms are based on the idea to separate different frequency bands in the force-reflection signal and apply the PBFR principle to the low-frequency component, while reflecting the high-frequency component directly. Both theoretical analysis and experimental results are presented; the results obtained confirm that the new algorithms fundamentally improve force convergence without a negative effect on stability of the teleoperator system with communication delays. |
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ISSN: | 1083-4435 1941-014X |
DOI: | 10.1109/TMECH.2014.2307334 |